96 lines
2.7 KiB
JavaScript
96 lines
2.7 KiB
JavaScript
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var ros = new ROSLIB.Ros({
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url : 'ws://localhost:9190'
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});
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ros.on('connection', function() {
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console.log('Connected to websocket server.');
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});
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ros.on('error', function(error) {
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console.log('Error connecting to websocket server: ', error);
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});
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ros.on('close', function() {
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console.log('Connection to websocket server closed.');
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});
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function talker(canframeid,data0,data1,data2,data3,data4,data5,data6,data7){
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var p0=Lu_StrToByte(data0);
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var p1=Lu_StrToByte(data1);
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var p2=Lu_StrToByte(data2);
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var p3=Lu_StrToByte(data3);
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var p4=Lu_StrToByte(data4);
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var p5=Lu_StrToByte(data5);
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var p6=Lu_StrToByte(data6);
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var p7=Lu_StrToByte(data7);
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/*
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alert("talker函数:"+canframeid+" "+data0+" "+data1+" "+data2+" "+data3+" "+data4+" "+data5+" "+data6+" "+data7+"\n"+ p0+" "+p1+" "+p2+" "+p3+" "+p4+" "+p5+" "+p6+" "+p7);
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*/
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var can_pub = new ROSLIB.Topic({
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ros : ros,
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name : '/js_can',
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messageType : 'lu_ps20l_msgs/Msg_CANFrame'
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});
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var can_msg = new ROSLIB.Message({
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header: {
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stamp: {
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secs: 0,
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nsecs: 0
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},
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frame_id: "",
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seq: 0
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},
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id:parseInt(canframeid),
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is_rtr:false,
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is_extended:false,
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is_error:false,
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dlc:8,
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data:[p0,p1,p2,p3,p4,p5,p6,p7]
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});
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can_pub.publish(can_msg);
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}
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function listener(){
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var sub_Display_State=new ROSLIB.Topic({
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ros : ros,
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name : '/Topic_Display_State',
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messageType : 'lu_ps20l_msgs/Msg_DisplayState'
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});
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sub_Display_State.subscribe(function(message){
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AGV_ID=message.AGV_ID;
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Sys_Mode=message.Sys_Mode;
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VehicleCtrlExpThrottle=message.VehicleCtrlExpThrottle;
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Warning_Code=message.Warning_Code;
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Car_Global_rx=message.Car_Global_rx;
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Car_Global_ry=message.Car_Global_ry;
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Car_Global_Theta=message.Car_Global_Theta;
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StartNode=message.StartNode;
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EndNode=message.EndNode;
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RealAutoChargeState=message.RealAutoChargeState;
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PWR_Percent=message.PWR_Percent;
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SVreal_angle=message.SVreal_angle;
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Speedm_Tmp=message.Speedm_Tmp;
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VehicleCtrlRealAltitude_mm=message.VehicleCtrlRealAltitude_mm;
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PWR_Warn=message.PWR_Warn;
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Curtis_Warning_Code=message.Curtis_Warning_Code;
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VehicleCtrlRealCustomStateByte0=message.VehicleCtrlRealCustomStateByte0;
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VehicleCtrlRealCustomStateByte1=message.VehicleCtrlRealCustomStateByte1;
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VehicleCtrlRealCustomStateByte2=message.VehicleCtrlRealCustomStateByte2;
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VehicleCtrlRealCustomStateByte3=message.VehicleCtrlRealCustomStateByte3;
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Remote_Or_HMI_Ctrl=message.Remote_Or_HMI_Ctrl;
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Get_Nav350_Curr_Layer=message.Get_Nav350_Curr_Layer;
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sub_Display_State.unsubscribe();
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//var str= message.AGV_ID.toString()+' '+message.Sys_Mode.toString()+' '+message.VehicleCtrlExpThrottle.toString()+' '+message.Warning_Code.toString()+'\n';
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//console.log(str);
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//document.getElementById('test').innerText= str;
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});
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}
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